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Hearth negative pressure is an important indicator of steam boiler. It's stable or not only directly affect the coal’s combustion efficiency but also an important parameter to ensure safety production. In the process of control, it has the characteristics of time-varying, nonlinear and coupling. In order to solve this problem, this thesis introduces Intelligent Track Guide Controller(ITGC) control scheme. ITGC principle is that transform the classic PID’s "objective control" to "process control". The ITGC simulation results were compared with PID, and simulation results show that: ITGC control scheme is better than the classics PID scheme in overshoot and settling time. Under a variety of conditions, the ITGC control scheme have an anti-interference ability. Applying ITGC to steam boiler’s hearth negative pressure control, it is fully capable of such a control system which have a multi-couplings and time variation.

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A robot with a laser range finder to its hand is presented for the inspection of manufactured parts. The transformation from the hand frame to the finder frame is transformed to an optimization problem by measuring a radii-known ball with unknown position information. Test results of real experiments on a motoman robot are reported and analyzed.

The heat exchange station of centralized heating system has the characteristics of large time delay and large lag which will affect the heating quality directly. Furthermore, a scheme of temperature control system of heat exchange station based on intelligent three-states Pang-Pang is designed .It chooses the average temperature of supply and return water in secondary network as the controlled parameters is based on mechanism analysis. Actual control effect shows that the scheme improves the controllability of the system. It not only decreases the overshoot but also improves the heating quality especially has the referential and extending significance for heat exchange station transforming open loop to closed-loop control.